#include "mb.h"
#include "comm.h"
#include "thread_manager.h"

#define DBG_TAG    "mb"
#define DBG_LVL    DBG_INFO
#include <rtdbg.h>

static char serial_msg_pool[128];
struct rt_messagequeue mb_rx_mq;

rt_uint16_t regInBuf[MB_INPUT_REG_NUM];
rt_uint16_t regHoldBuf[MB_HOLD_REG_NUM];

const rt_uint8_t auchCRCHi[] =
{
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
    0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
    0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
    0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
    0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
    0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
    0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
    0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
    0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
    0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
    0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
    0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
    0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
    0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
    0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
    0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
    0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
    0x80, 0x41, 0x00, 0xC1, 0x81, 0x40
};
const rt_uint8_t auchCRCLo[] =
{
    0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06,
    0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD,
    0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09,
    0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A,
    0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4,
    0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
    0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3,
    0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4,
    0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A,
    0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29,
    0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED,
    0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
    0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60,
    0x61, 0xA1, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67,
    0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F,
    0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68,
    0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E,
    0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
    0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71,
    0x70, 0xB0, 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92,
    0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C,
    0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B,
    0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B,
    0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
    0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42,
    0x43, 0x83, 0x41, 0x81, 0x80, 0x40
};

static rt_uint16_t modbus_crc16(rt_uint8_t *puchMsg, rt_uint8_t usDataLen)
{
    rt_uint8_t uchCRCHi = 0xFF ;         // 高CRC字节初始化  
    rt_uint8_t uchCRCLo = 0xFF ;         // 低CRC 字节初始化
    rt_uint8_t uIndex ;                  // CRC循环中的索引   
    
    while (usDataLen--)                  // 传输消息缓冲区  
    {
        uIndex = uchCRCLo ^ *puchMsg++ ; // 计算CRC         
        uchCRCLo = uchCRCHi ^ auchCRCHi[uIndex];
        uchCRCHi = auchCRCLo[uIndex];
    }

    return (uchCRCHi << 8 | uchCRCLo);   // MODBUS 规定高位在前
}

rt_weak void comm_notify(rt_uint8_t arg_id, rt_uint16_t arg_value)
{
    rt_kprintf("comm_notify> id: %d, value: %d\n", arg_id, arg_value);
}

void mb_init(void)
{
    rt_mq_init(&mb_rx_mq,
               "mb_rx_mq",
               &serial_msg_pool[0],                 
               sizeof(struct Msg_Serial),
               sizeof(serial_msg_pool),         
               RT_IPC_FLAG_FIFO);
    comm_panel_init();
    comm_pc_init();
}

void mb_poll(void)
{
    ssize_t recvState;
    struct Msg_Serial msg_serial;
    struct rt_serial_device *serial_dev;
    rt_uint8_t rxBuf[RT_SERIAL_RB_BUFSZ];
    rt_uint16_t rxLen;
    rt_uint8_t txBuf[RT_SERIAL_RB_BUFSZ];
    rt_uint16_t txLen;
    rt_uint16_t mb_crc;
    rt_uint8_t mb_crc_enable;
    rt_uint8_t mb_cmd;
    rt_uint16_t mb_reg_addr;
    rt_uint16_t mb_reg_cnt;
    rt_uint8_t mb_slaver_addr = 0x01;

    rt_memset(&msg_serial, 0, sizeof(msg_serial));
    rt_memset(rxBuf, 0, sizeof(rxBuf));
    rt_memset(txBuf, 0, sizeof(txBuf));
    txLen = 0;
    recvState = rt_mq_recv(&mb_rx_mq, &msg_serial, sizeof(msg_serial), RT_WAITING_FOREVER);
    if(recvState > 0)
    {
        serial_dev = (struct rt_serial_device *)msg_serial.dev;
        if(serial_dev == pc_serial_dev)
        {
            mb_slaver_addr = regHoldBuf[ARG_ID_MBSlaverAddr];
        } 
        /* 从串口读取数据*/
        rxLen = rt_device_read(msg_serial.dev, 0, rxBuf, msg_serial.size);
        
        /* 确认设备地址 */
        if(rxBuf[0] == mb_slaver_addr)
        {
            mb_crc = (mb_crc_enable) ? modbus_crc16(rxBuf, rxLen - 2) : (rxBuf[rxLen - 1] << 8) | (rxBuf[rxLen - 2]);
            /* CRC校验 */
            if(mb_crc == ((rxBuf[rxLen - 1] << 8) | (rxBuf[rxLen - 2])))  
            {
                mb_cmd = rxBuf[1];
                mb_reg_addr = (rxBuf[2] << 8) | rxBuf[3];
                
                switch(mb_cmd)
                {
                    /* 读保持寄存器 */
                    case 0x03:
                    {
                        mb_reg_cnt = (rxBuf[4] << 8) | rxBuf[5];
                        if(mb_reg_cnt > MB_HOLD_REG_NUM || mb_reg_addr < MB_HOLD_REG_START || \
                            mb_reg_addr + mb_reg_cnt > MB_HOLD_REG_START + MB_HOLD_REG_NUM)
                        {
                            txBuf[txLen++] = mb_slaver_addr;  /*地址*/
                            txBuf[txLen++] = 0x80 + mb_cmd;  /*返回错误*/
                            txBuf[txLen++] = 0x02;              /*非法的数据地址*/
                        }
                        else
                        {
                            txBuf[txLen++] = mb_slaver_addr;
                            txBuf[txLen++] = mb_cmd;
                            txBuf[txLen++] = mb_reg_cnt * 2;
                            for(rt_uint16_t i = 0; i < mb_reg_cnt; i++)
                            {
                                txBuf[txLen++] = regHoldBuf[mb_reg_addr + i - MB_HOLD_REG_START] >> 8;
                                txBuf[txLen++] = regHoldBuf[mb_reg_addr + i - MB_HOLD_REG_START] & 0xFF;
                            }
                        }
                    }
                    break;
                    /* 读输入寄存器 */
                    case 0x04:
                    {
                        mb_reg_cnt = (rxBuf[4] << 8) | rxBuf[5];
                        if(mb_reg_cnt > MB_INPUT_REG_NUM || mb_reg_addr < MB_INPUT_REG_START || \
                            mb_reg_addr + mb_reg_cnt > MB_INPUT_REG_START + MB_INPUT_REG_NUM)
                        {
                            txBuf[txLen++] = mb_slaver_addr;  /*地址*/
                            txBuf[txLen++] = 0x80 + mb_cmd;  /*返回错误*/
                            txBuf[txLen++] = 0x02;              /*非法的数据地址*/
                        }
                        else
                        {
                            txBuf[txLen++] = mb_slaver_addr;
                            txBuf[txLen++] = mb_cmd;
                            txBuf[txLen++] = mb_reg_cnt * 2;
                            for(rt_uint16_t i = 0; i < mb_reg_cnt; i++)
                            {
                                txBuf[txLen++] = regInBuf[mb_reg_addr + i - MB_INPUT_REG_START] >> 8;
                                txBuf[txLen++] = regInBuf[mb_reg_addr + i - MB_INPUT_REG_START] & 0xFF;
                            }
                        }
                    }
                    break;
                    /* 写保持寄存器 */
                    case 0x06:
                    {
                        if(mb_reg_addr < MB_HOLD_REG_START || mb_reg_addr > MB_HOLD_REG_START + MB_HOLD_REG_NUM)
                        {
                            txBuf[txLen++] = mb_slaver_addr;  /*地址*/
                            txBuf[txLen++] = 0x80 + mb_cmd;   /*返回错误*/
                            txBuf[txLen++] = 0x02;            /*非法的数据地址*/
                        }
                        else
                        {
                            txBuf[txLen++] = mb_slaver_addr;
                            txBuf[txLen++] = mb_cmd;
                            txBuf[txLen++] = mb_reg_addr >> 8;
                            txBuf[txLen++] = mb_reg_addr & 0xFF;
                            txBuf[txLen++] = rxBuf[4];
                            txBuf[txLen++] = rxBuf[5];
                            regHoldBuf[mb_reg_addr - MB_HOLD_REG_START] = (rxBuf[4] << 8) | rxBuf[5];

                            /* user can add process here */
                            rt_kprintf("write regHoldBuf[%d] = %d\r\n", mb_reg_addr - MB_HOLD_REG_START, regHoldBuf[mb_reg_addr - MB_HOLD_REG_START]);
                            comm_notify(mb_reg_addr - MB_HOLD_REG_START, regHoldBuf[mb_reg_addr - MB_HOLD_REG_START]);
                        }
                    }
                    break;
                    default:
                    {
                        txBuf[txLen++] = mb_slaver_addr;    /*地址*/
                        txBuf[txLen++] = 0x80 + mb_cmd;     /*返回错误*/
                        txBuf[txLen++] = 0x01;              /*非法的功能码*/
                    }
                    break;
                }
                mb_crc = modbus_crc16(txBuf, txLen);
                txBuf[txLen++] = mb_crc & 0xFF;
                txBuf[txLen++] = mb_crc >> 8;
                rt_device_write(&serial_dev->parent, 0, txBuf, txLen);
            }
        }
    }
}